Method
The strategy has been designed around the idea of behaviours. Behaviours are the response by a creature to a certain stimulus. Behaviour ensure the survival of living beings since they can either lead to the constructive evolution of the species or to its extinction. Different species can respond with different behaviours. A behaviour-based control system is presented where the behaviours are arranged in a concurrent manner
Behavior Based Control System
- Each behaviour is used to implement control laws, and our system being homogeneous, this control laws will be same for all robots as per the behaviour to be exhibited. The behaviours can receive input from the same sensors and the output action is sent as a command to the actuators.
- The algorithm is quite a unique one when looked at on its basic level. It consists of various smaller and simpler algorithm, each defining its own behaviour characteristic for the robot. Each one of these behaviours have their own block which responds to a certain stimuli or stimulus. At any point, one or multiple of these blocks can get triggered as shown in Figure 3.
- This form of behavioural conjunction can give rise to various types of permutated emergent action. Since none of these emergent actions are pre-programmed, it is called an emergent behaviour.
Fig 3: Behavior Structure
Behavior Model
The world is fundamentally unknown and changing.
- So the key idea is to develop a library of controllers = behaviours
- Therefore switch among controllers in response to environmental changes.
- Behaviour - mapping of sensory input to motor actions as shown in Figure 4.
Fig 4: working principle
These behaviors can be termed as control modules or control laws that are to be implemented as shown in Figure 5. The input is received from the sensors i.e. IR sensor, vision sensor, bump sensor to the different behaviours and the output command is given to robot end effectors such as wheels, gripper, turntable.
Fig 5: Behavior Model